Background:Using minimally invasive neurosurgical robots is one of the most desirable ablation methods and resection of brain tumors. In this study, forward kinematics and Jacobian matrix calculated for two single-port robots for comparing the effectiveness of two types of single port minimal invasive surgical robots to ablation and resection of brain tumor Methods: The motion analysis of robots type 1 and 2 has compared to each other. Ablation manipulator in robot type 1 has five degrees of freedom, but in robot type 2, three revolute degrees of freedom of this manipulator has replaced with a revolute joint perpendicular to the previous three revolute joints. Results: Results showed that for resection surgery, in the same conditions, robot type 2 damaged 58.9 mm 3 more of cerebral cortex tissue than robot type 1 to resect the brain tumors. To establish a static balance, robot type 2 needs to tolerate at least 41% more internal loading than robot type 1. The maximum velocity for robot type 1 in the contact location between the end-effector and the tumor is 1.7 times more than robot type 2. The maximum end-effector force of robot type 1 to apply the tumor for ablation surgery is more than 1.8 times in robot type 2, but the maximum moment and power for ablation surgery and resection of these two robots were the same less than 1% difference. Conclusion: Despite the more straightforward mechanism, a minimum number of joints, and better kinematics range of robot type 2, robot types 1 has the possibility for transformation, establishes the static balancing, and does a better ablation surgery with less damage to the brain.

Background: Early detection of prostate cancer has significant benefits for its treatment and can increase the survival chance in patients. In recent years, new methods such as shear wave elastography and vibro-elastography, as well as artificial tactile sensing, have been used to detect a mass in the prostate tissue in-vivo and ex-vivo. This paper aims to investigate the difference between normal and malignant prostate tissue reaction to simple and vibro-neural stimulation for prostate tissue mass detection in order to determine neural stimulation intensity, velocity, and frequency to obtain the best result in detecting the type and location of the tumor. Methods: This study has utilized neural stimulation devices in normal and cancerous tissues. The stimulation velocity, probe location, and the frequency of neural stimulation considered as the independent variables. Results: The results show that for superficial masses, although dependent on the probe, the accuracy of detection at the low speed of 5mm/s is 50% higher than other conditions. On the other hand, in deep masses, with increasing mass depth, the accuracy of detection at the medium speed of 8mm/s is 30% higher than the low speed. Finally, the results showed that with increased stimulation frequency, the possibility of tumor detection, and its accuracy increases by 35%. Conclusion: By improving the accuracy of the neural stimulation device, it can apply to detect hard materials such as tumors and malignant tissues.